HM-Array: A Novel Haptic Magnetism-based Leader-follower Platform for Minimally Invasive Robotic Surgery.

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics Pub Date : 2024-11-07 DOI:10.1109/TOH.2024.3493629

Wenda Zhao, Yuanrui Huang, Xionghuan Luo, Hongbin Liu

引用次数: 0

Abstract

Ensuring the safety and authenticity of haptic feed2 back is crucial in the domain of surgical operations, particularly in procedures like Natural Orifice Transluminal Endoscopic Surgery (NOTES) and Minimally Invasive Robotic Surgery (MIRS). To enhance the control efficiency of the robotic operating console, we propose a haptic magnetism-based array (HM7 Array). This system employs a solenoid array and a detection stylus to achieve controller localization without the need for additional sensors, while simultaneously generating haptic effects. The device effectively controls the surgical robot's pose through a localization-haptic combined loopback. The entire system is scheduled on a finite state machine (FSM), seamlessly fusing localization and haptic generation. Psychometric evaluations con14 ducted through user studies have demonstrated the device's pre15 cision and accuracy. Teleoperation experimental results further confirm its potential value in surgical treatments and broader medical haptic applications.

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HM-Array：用于微创机器人手术的基于触觉磁力的新型领导者-追随者平台。

在外科手术领域，尤其是在自然腔道内窥镜手术（NOTES）和微创机器人手术（MIRS）中，确保触觉反馈2 的安全性和真实性至关重要。为了提高机器人手术控制台的控制效率，我们提出了一种基于磁性的触觉阵列（HM7 阵列）。该系统采用电磁线圈阵列和探测触针，无需额外传感器即可实现控制器定位，同时产生触觉效果。该装置通过定位-触觉组合环回有效控制手术机器人的姿势。整个系统通过有限状态机（FSM）进行调度，将定位和触觉效果完美融合。通过用户研究得出的心理测量评估结果证明了该设备的精确性和准确性。远程操作实验结果进一步证实了它在外科治疗和更广泛的医疗触觉应用中的潜在价值。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Haptics COMPUTER SCIENCE, CYBERNETICS-

CiteScore

5.90

自引率

13.80%

发文量

109

审稿时长

>12 weeks

期刊介绍： IEEE Transactions on Haptics (ToH) is a scholarly archival journal that addresses the science, technology, and applications associated with information acquisition and object manipulation through touch. Haptic interactions relevant to this journal include all aspects of manual exploration and manipulation of objects by humans, machines and interactions between the two, performed in real, virtual, teleoperated or networked environments. Research areas of relevance to this publication include, but are not limited to, the following topics: Human haptic and multi-sensory perception and action, Aspects of motor control that explicitly pertain to human haptics, Haptic interactions via passive or active tools and machines, Devices that sense, enable, or create haptic interactions locally or at a distance, Haptic rendering and its association with graphic and auditory rendering in virtual reality, Algorithms, controls, and dynamics of haptic devices, users, and interactions between the two, Human-machine performance and safety with haptic feedback, Haptics in the context of human-computer interactions, Systems and networks using haptic devices and interactions, including multi-modal feedback, Application of the above, for example in areas such as education, rehabilitation, medicine, computer-aided design, skills training, computer games, driver controls, simulation, and visualization.